Dynamic analysis and sliding mode control of a novel extendable modular multi-dofs link

Hak Yi, Je Hong Yoo, Reza Langari

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link's length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

Original languageEnglish
Title of host publicationDynamics, Control and Uncertainty
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages337-341
Number of pages5
EditionPARTS A AND B
ISBN (Print)9780791845202
DOIs
StatePublished - 2012
EventASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 - Houston, TX, United States
Duration: 9 Nov 201215 Nov 2012

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
NumberPARTS A AND B
Volume4

Conference

ConferenceASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
Country/TerritoryUnited States
CityHouston, TX
Period9/11/1215/11/12

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